High Speed Motion Control Method of Industrial Robot Based on Dynamic Torque Compensation and Two-Degrees-of-Freedom Control System
High Speed Motion Control Method of Industrial Robot Based on Dynamic Torque Compensation and Two-Degrees-of-Freedom Control System
复制标题
基于动态扭矩补偿和二自由度控制系统的工业机器人高速运动控制方法
DOI：
10.1541/ieejias.123.525
复制
发表时间：
2003
影响因子：
--
通讯作者：
K. Ohishi
中科院分区：
文献类型：
--
作者：
T. Miyazaki;S. Ohtaki;S. Tungpataratanawong;K. Ohishi
本文提出了一种基于动态力矩补偿和两自由度速度控制系统的运动控制实现方案。为了快速抑制机械手的动态力矩，在各个关节控制系统上构造了基于逆动力学计算的前馈力矩补偿方法，并由基于状态反馈、PI速度控制器和前馈控制器的鲁棒控制系统构成关节控制系统。该方法能快速、全面地抑制关节系统的惯性变化和扭转振动的影响。仿真和实验结果表明，该系统能很好地调节多关节机器人的运动，抑制扭转振动。
This paper proposes a realization of motion control based on dynamic torque compensation and two-degrees-of-freedom speed control system. In order to suppress the dynamic torque of robot manipulator quickly, this paper constructs the feedforward torque compensation method based on inverse dynamics calculation on each joint control system.Moreover, the proposed joint control system is constructed by the robust control system based on the state feedback, PI speed controller and feedforward controller.The proposed method can suppress the influence of inertia variation and torsional vibration of joint system quickly and completely.The simulation results and experimental results show that the proposed system well regulates the motion of multi-joint robot and suppresses the torsional vibration.